摘要
工业机械臂的末端执行器在面临实际的装配任时总是出现低、柔顺性低等问题。此次研究创建了一种机械臂UR5的柔顺装配控制方法,结合欧拉拉格朗日法和齐次变换矩阵分析动力学模型和动力学模型,分析关节干扰力矩和外力两者的关系,依据改进的内环阻抗控制器和滑膜控制器设计滑膜阻抗控制器。UR5机械臂外力碰撞仿真实验结果显示,2,3,4关节的角加速度最大值分别为4.2rad/s*s, 3rad/s*s,-7.8rad/s*s。而1,5,6关节角加速度均为±0.1rad/s*s。
In the face of actual assembly,the end effector of industrial manipulator always has the problems of low flexibility and low flexibility.In this study,a flexible assembly control method for UR5 manipulator is established.The dynamic model and dynamic model are analyzed by combining Euler Lagrange method and homogeneous transformation matrix.The relationship between joint disturbance torque and external force is analyzed.The synovial impedance controller is designed according to the improved inner loop impedance controller and the synovial controller.The simulation results of UR5 manipulator show that the maximum angular acceleration of 2,3 and 4 joints are 4.2 rad/s^(2),3 rad/s^(2) and-7.8 rad/s^(2),respectively.The angular accelerations of 1,5 and 6 joints were±0.1 rad/s^(2).
作者
黄洋
Huang Yang(Department of Mechanical and Electrical Engineering,Anhui Grain Engineering Vocational College,Hefei,Anhui 230011)
出处
《佳木斯大学学报（自然科学版）》
CAS
2023年第2期77-80,共4页
Journal of Jiamusi University：Natural Science Edition
基金
安徽省质量工程项目(2021jxtd089)。
关键词
工业机械臂
末端执行器
柔顺控制
碰撞检测
industrial manipulator
end effector
compliance control
collision detection
